can(2.0a, 2.0b)/uavcan servo control protocol manual
TRANSCRIPT
CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
Revision 2.00_EN
HITEC RCD, INC.
1 CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
Rev 2.00_EN HITEC RCD, INC.
INDEX
1 CAN SERVO Control Protocol ............................................................................................................................................... 5
1-1 Protocol ..................................................................................................................................................... 5
1-2 Communication System ..................................................................................................................... 5
1-3 Test Configuration ................................................................................................................................ 5
1-4 Normal Packet Format ....................................................................................................................... 5
Header ................................................................................................................................................................. 6
ID............................................................................................................................................................................ 6
Address ............................................................................................................................................................... 6
Register Length ............................................................................................................................................... 6
Data ...................................................................................................................................................................... 7
Check Sum ......................................................................................................................................................... 7
1-5 Custom Packet Format ....................................................................................................................... 8
Message ID ....................................................................................................................................................... 9
ID............................................................................................................................................................................ 9
Address ............................................................................................................................................................... 9
Data ................................................................................................................................................................... 10
1-6 . UAVCAN Protocol ............................................................................................................................ 10
2 CAN SERVO Register ........................................................................................................................................................... 11
2-1 Address Table ....................................................................................................................................... 11
2-2 Status........................................................................................................................................................ 13
REG_EMERGENCY_STOP ........................................................................................................................... 14
REG_POSITION .............................................................................................................................................. 14
REG_VELOCITY .............................................................................................................................................. 15
REG_TORQUE................................................................................................................................................. 15
REG_VOLTAGE ............................................................................................................................................... 15
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REG_MCU_TEMPER ..................................................................................................................................... 15
REG_TURN_COUNT ..................................................................................................................................... 16
REG_32BITS_POSITION_L .......................................................................................................................... 16
REG_32BIT_POSITION_H ........................................................................................................................... 16
REG _TIME_L .................................................................................................................................................. 16
REG _TIME_H ................................................................................................................................................. 16
REG_PRODUCT_NO..................................................................................................................................... 17
REG_VERSION ................................................................................................................................................ 17
REG_VERSION(BIT_INVERSE) ................................................................................................................... 17
2-3 Status (SG Series Only) .................................................................................................................... 18
REG_CURRENT .............................................................................................................................................. 18
REG _MOTOR_TEMP ................................................................................................................................... 18
REG_TEMP ....................................................................................................................................................... 18
REG_HUM ........................................................................................................................................................ 18
2-4 Action ....................................................................................................................................................... 19
REG_POSITION_NEW ................................................................................................................................. 19
REG_TURN_NEW .......................................................................................................................................... 19
2-5 Communication ................................................................................................................................... 20
REG_ID .............................................................................................................................................................. 20
REG_ID (if UAVCAN) ................................................................................................................................... 20
REG_BAUDRATE ............................................................................................................................................ 20
REG_CAN_BUS_ID_H ( if protocol = CAN 2.0A, CAN 2.0B ) .................................................... 22
REG_CAN_BUS_ID_H ( if protocol = UAVCAN ) ............................................................................ 22
REG_CAN_BUS_ID_L ( if protocol = CAN 2.0A, CAN 2.0B ) ..................................................... 22
REG_CAN_BUS_ID_L ( if protocol = UAVCAN ) ............................................................................. 22
REG_ SAMPLE_POINT ................................................................................................................................ 22
REG_CAN_MODE .......................................................................................................................................... 23
3 CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
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2-6 MODE ....................................................................................................................................................... 24
REG_RUN_MODE.......................................................................................................................................... 24
REG_POS_LOCK_TIME ................................................................................................................................ 24
REG_POS_LOCK_TORQUE_RATIO ......................................................................................................... 24
REG_POSITION_MAX_LIMIT .................................................................................................................... 25
REG_POSITION_MID ................................................................................................................................... 25
REG_POSITION_MIN_LIMIT ..................................................................................................................... 25
2-7 Option ...................................................................................................................................................... 26
REG_STREAM_TIME ..................................................................................................................................... 26
REG_STREAM_MODE .................................................................................................................................. 26
REG_STREAM_ADDR_0 .............................................................................................................................. 26
REG_STREAM_ADDR_1 .............................................................................................................................. 27
REG_STREAM_ADDR_2 .............................................................................................................................. 27
REG_STREAM_ADDR_3 .............................................................................................................................. 28
REG_POWER_CONFIG ................................................................................................................................ 28
REG_DEADBAND .......................................................................................................................................... 29
REG_POS_MAX .............................................................................................................................................. 29
REG_POS_MIN ............................................................................................................................................... 29
REG_SPEED_VOLTAGE................................................................................................................................ 29
REG_SPEED_UP.............................................................................................................................................. 30
REG_SPEED_DN............................................................................................................................................. 30
REG_SPEED_ES............................................................................................................................................... 30
REG_INERTIA_RANGE ................................................................................................................................. 30
REG_VELOCITY_MAX(SPEED) .................................................................................................................. 31
REG_TORQUE_MAX .................................................................................................................................... 31
REG_VOLTAGE_MAX ................................................................................................................................... 31
REG_VOLTAGE_MIN .................................................................................................................................... 32
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REG_TEMPER_MAX ...................................................................................................................................... 32
REG_TEMPER_MIN ....................................................................................................................................... 32
REG_ECHO ...................................................................................................................................................... 32
REG_USER_1 ................................................................................................................................................... 33
REG_USER_2 ................................................................................................................................................... 33
2-8 Option (SG Series Only) ................................................................................................................... 34
REG _SPEC_TORQUE .................................................................................................................................. 34
REG_CURRENT_MAX .................................................................................................................................. 34
2-9 Option (UAVCAN Only) .................................................................................................................... 34
REG_UNITLESS_RAD_MODE .................................................................................................................... 34
2-10 Option (Ver1.4 Only) ......................................................................................................................... 35
REG_E_STATUS .............................................................................................................................................. 35
REG_E_REF_1 .................................................................................................................................................. 35
REG_E_PAD_VOLT ........................................................................................................................................ 35
REG_E_SETUP ................................................................................................................................................. 35
2-11 Configuration ........................................................................................................................................ 36
REG_DEFAULT ................................................................................................................................................ 36
REG_CONFIG_SAVE ..................................................................................................................................... 36
3 Drawing ................................................................................................................................................................................. 37
3-1 Connector and Pin Assign (SG Series CAN Circular Connector Type) ....................... 37
3-2 Cable and Pin Assign (SG Series CAN Cable Type) ............................................................ 37
3-3 Connector and Pin Assign (Standard CAN Servo Connector Type) ............................ 38
5 CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
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1 CAN SERVO Control Protocol
1-1 Protocol
Using CAN SERVO Control Protocol, you can write or read data in the registers of CAN Servos.
1-2 Communication System
CAN communication is a Multi Master Network, and all CAN controllers sharing a
communication bus can act as a Master. CAN communication is resistant to noise by the
Differential communication method using Two Wire Twist Pair. It supports CAN protocol
standard CAN (2.0A) and extended CAN (2.0 B) and can communicate at speeds up to 1Mbps
(ISO11898).
1-3 Test Configuration
SERVO setting and TEST are available by connecting to PC using DPC-CAN provided separately.
(DPC-CAN Communication: Baud rate - 115,200bps, stop bit - 1, parity – none)
1-4 Normal Packet Format
Normal Packet Format is divided into 6 areas such as Header, ID, Address, REG Length, Data,
Check Sum as follow.
- Data format - Little Endian
- Check Sum = (ID + Address + REG Length + Data Low + Data High) & 0xFF
⚫ Normal Write
- Data write to SERVO
Write
Header
0x96
ID
0xXX
Address
0xXX
REG
Length
0x02
Data
Low
0xXX
Data
High
0xXX
Check
Sum
0xXX
⚫ Normal Read
- Request a response to SERVO
Write
Header
0x96
ID
0xXX
Address
0xXX
REG
Length
0x00
Check
Sum
0xXX
- Response from SERVO
Return
Header
0x69
ID
0xXX
Address
0xXX
REG
Length
0x02
Data
Low
0xXX
Data
High
0xXX
Check
Sum
0xXX
6 CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
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Header
Packet starts with Byte.
Every Protocol Packet should start with Header Byte.
Packets sent from the controller to SERVO begin with 150 (0x96), and packets returned
by the SERVO to the controller begin with 105 (0x69).
ID
It shows Byte which represents the unique ID of CAN SERVO to receive the packet.
The corresponding packet is recognized only in the servo that matches the ID of the
packet. Unmatched servos will not respond. ID can be specified from 0 to 255.
⚫ Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all
servos regardless of the SERVO's unique ID.
Address
Register Address Byte.
Registers of CAN SERVO are configured in 2-byte units, and Register Address has Even
value.
Register Length
A Byte that indicates the length of Data in the Packet.
Among the Packet Format (Header, ID, Address, REG Length, Data, Check Sum), Register
Length means the number of Byte in the area of “Data”.
⚫ Write Mode
It indicates the number of Bytes behind REG Length. It is fixed to 2.
⚫ Read Mode
If the .REG Length is '0', it means that there is no data transmitted afterwards, which
Header ID Address REG
Length
Data
Low
Data
High
Check
Sum
Header ID Address REG
Length
Data
Low
Data
High
Check
Sum
Header ID Address REG
Length
Data
Low
Data
High
Check
Sum
Header ID Address REG
Length
Data
Low
Data
High
Check
Sum
7 CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
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is used to read the data from the register corresponding to the packet address.
Data
The data you want to write to the Register.
When the Data is [Write Mode], the length is 2Byte. When the Data is [Read Mode], the
length is 0 Byte. In other words, Data is omitted after REG Length in Packet.
When writing or reading 2 Byte Data value to register specified by Address of Packet,
follow Little Endian rule as follows. Data [0] has 2 bytes of Low Byte and Data[1] has
High Byte.
Check Sum
A byte to verify the error of the packet. If CheckSum does not match, it recognizes as
an error packet and does not respond to the corresponding packet. CheckSum is the
lower 1 byte value of the sum of the bytes of all areas excluding the header in the
packet.
⚫ Read Mode Check Sum Calculation
Check Sum = (ID + Address + Length) & 0xFF
⚫ Write Mode Check Sum Calculation
Check Sum = (ID + Address + Length +Data [0] + Data [1]) & 0xFF
Header ID Address REG
Length
Data
Low
Data
High
Check
Sum
Header ID Address REG
Length
Data
Low
Data
High
Check
Sum
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1-5 Custom Packet Format
Removed REG Length and Check Sum from the Normal Packet Format protocol and extended
the function with the separator of Message ID.
It is recommended to use Custom Packet protocol in TURN MODE situation.
ex) Write 2 Address Data (Position New, Turn New),
Read 2 Address Data (Position Now, Turn Count)
Read Long DATA (32bit position)
Custom Packet Format is divided into 6 areas, Message Id, ID, Address A, B, DATA A, B as
follows.
⚫ Custom Write
- Data write to SERVO
Message
ID
‘w’
ID
0xXX
Address
0xXX
Data
Low
0xXX
Data
High
0xXX
⚫ Lowercase ‘w’
- Data write to SERVO (2 Address Data)
Message
ID
‘W’
ID
0xXX
Address
A
0xXX
Data
Low A
0xXX
Data
High A
0xXX
Address
B
0xXX
Data
Low B
0xXX
Data
High B
0xXX
⚫ Uppercase ‘W’
⚫ If you use 'x' or 'X' instead of 'w' or 'W', CAN SERVO processes the read after writing.
In other words, it sends a Return after writing.
⚫ Custom Read
- Request a data to SERVO
Message
ID
‘r’
ID
0xXX
Address
0xXX
- Response from SERVO
Message
ID
‘v’
ID
0xXX
Address
0xXX
Data
Low
0xXX
Data
High
0xXX
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- Request 2 data to SERVO (2 Address Data)
Message
ID
‘R’
ID
0xXX
Address
A
0xXX
Address
B
0xXX
- Response from SERVO (2 Address Data)
Message
ID
‘V’
ID
0xXX
Address
A
0xXX
Data
Low A
0xXX
Data
High A
0xXX
Address
B
0xXX
Data
Low B
0xXX
Data
High B
0xXX
Message ID
A start Byte of Custom Packet. Message Id values are identified by the characters ‘w’,
‘W’, ‘x’, ‘X’, „r’, ‘R’, ‘v’ and ‘V’.
ID
A Byte which represents the unique ID of CAN SERVO to receive the packet.
The corresponding packet is recognized only in the servo that matches the ID of the
packet. Unmatched servos will not respond. ID can be specified from 0 to 255.
⚫ Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all
servos regardless of CAN SERVO's unique ID.
Address
Register Address Byte.
Registers of SERVO are configured in 2-byte units, and Register Address has Even value.
Message
ID ID
Address
A
Data
Low A
Data
High A
Address
B
Data
Low B
Data
High B
Message
ID ID
Address
A
Data
Low A
Data
High A
Address
B
Data
Low B
Data
High B
Message
ID ID
Address
A
Data
Low A
Data
High A
Address
B
Data
Low B
Data
High B
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Data
The data you want to write to the Register.
Data is 2 bytes or 2x2 bytes and follows Little Endian rules. Data [0] has Low Byte
among 2 Byte data and Data [1] has High Byte.
1-6 . UAVCAN Protocol
Supported UAVCAN Data Type is as follows.
Actuator.ArrayCommand
Actuator.Status
GetNodeInfo
NodeStatus
For more detailed information, please refer to the UAVCAN protocol data.
https://legacy.uavcan.org/Specification/7._List_of_standard_data_types/
https://legacy.uavcan.org/Specification/4._CAN_bus_transport_layer/
https://uavcan.org/specification/UAVCAN_Specification_v1.0-beta.pdf - Latest version
document.
Message
ID ID
Address
A
Data
Low A
Data
High A
Address
B
Data
Low B
Data
High B
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2 CAN SERVO Register
2-1 Address Table
Address Name len R/W
Range Feature Unit
reset min max
Status
0x48 REG_EMERGENCY_STOP 2 R - 0 65535
Bit 8: Position min error. 0 = OK, 1 = Error
Bit 9: Position max error 0 = OK, 1 = Error
Bit 10: MCU temper under error 0 = OK, 1 = Error
Bit 11: MCU temper over error 0 = OK, 1 = Error
Bit 13: Volt under error 0 = OK, 1 = Error
Bit 14: Volt over error 0 = OK, 1 = Error
0x0C REG_POSITION 2 R - 0 16383 Read the Position. 4096=90°
0x0E REG_VELOCITY 2 R - 0 65535 Read the Velocity. pos/100msec
0x10 REG_TORQUE 2 R - 0 4095 Read the Motor PWM Duty. 4095=100%
0x12 REG_VOLTAGE 2 R - 0 65535 Read the Input Voltage. 100 = 1.00V
0x14 REG_MCU_TEMPER 2 R - -57 196 Read the MCU temperature. ℃
0x18 REG_TURN_COUNT 2 R/W - -32760 32760 Read the Accumulated Turn Count. 1 = 360°
0x1A REG_32BITS_POSITION_L 2 R - 0 65535 Read the Accumulated Turn Position High 2 Bytes.
4096=90°
0x1C REG_32BITS_POSITION_H 2 R - 0 65535 Read the Accumulated Turn Position Low 2 Bytes.
1=4 x 360°
0xC8 REG_TIME_L 2 R - 0 65535 Read the Servo operation time Low 2 Bytes.
sec
0xCA REG_TIME_H 2 R - 0 65535 Read the Servo operation time High 2 Bytes.
1=65536 sec
0x74 REG_PRODUCT_NO 2 R - 0 65535 Read the Servo product number. -
0xFC REG_VERSION 2 R - 0 65535 Read the Servo version. -
0xFE REG_VERSION (BIT_INVERSE)
2 R - 0 65535 Read the Servo version.(Bit Inverse)
-
Status (SG Only)
0x16 REG_CURRENT 2 R - 0 65535 Read the generated Current. mA
0xD0 REG_MOTOR_TEMP 2 R - -32767 32767 Read the Motor temperature. Computational
reference
0xD2 REG_TEMP 2 R - -32767 32767 Read the internal temperature of the Servo.
Computational
reference
0xD4 REG_HUM 2 R - 0 32767 Read the internal relative humidity of the servo.
Computational
reference
Action
0x1E REG_POSITION_NEW 2 R/W - 0 16383 Set New Position. 4096=90°
0x24 REG_TURN_NEW 2 R/W - -32760 32760 Set New Turn (TURN mode only)
1=360°
Comm
0x32
REG_ID 2 R/W 0 0 254 Set the SERVO ID. ‘0’ is Broadcast.
REG_ID (UAVCAN Only) 2 R/W 0 0 127 Set the SERVO ID. ‘0’ is Broadcast.
0x38 REG_CAN_BAUDRATE 2 R/W 0 0 8 Set the baud rate.
0 = 1000 kbps
1 = 800 kbps
2 = 750 kbps
3 = 500 kbps
4 = 400 kbps
5 = 250 kbps
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6 = 200 kbps
7 = 150 kbps
8 = 125 kbps
0x3C
REG_CAN_BUS_ID_H 2 R/W 0 0 65535 Set the CAN ID High 2 Bytes. (2.0A: 0~2047, 2.0B: 0~536870911)
‘0’ is Broadcast.
REG_CAN_BUS_ID_H (UAVCAN Only)
2 R/W 0 0 0 Not used on UAVCAN. Fixed value to ‘0’
0x3E
REG_CAN_BUS_ID_L 2 R/W 0 0 65535 Set the CAN ID Low 2 Bytes. (2.0A: 0~2047, 2.0B :0~536870911)
‘0’ is Broadcast.
REG_CAN_NODE ID (UAVCAN Only)
2 R/W 0 0 128 Set the Node ID. ‘0’ is Broadcast.
‘128’ is Setting value.
0x40 REG_SAMPLE_POINT 2 R/W 1 0 1 Set the CAN Sample Point.
0 = 50%,
1 = 87.5%
0x6A REG_CAN_MODE 2 R/W 0 0 1 Set the CAN Specification.
0 = 2.0A
1 = 2.0B
Mode
0x44
REG_RUN_MODE 2 R/W 0 0 1 Set the run mode.
0: Multi-Turn mode
1: Servo mode
REG_RUN_MODE (UAVCAN Only)
2 R/W 1 1 1 Set the run mode. Set servo mode only
0x9A REG_POS_LOCK_TIME 2 R/W 3 0 5000 Set the time for OLP to operate. (Only Use SERVO Mode)
sec
0x9C REG_POS_LOCK_TORQUE_RATIO
2 R/W - 0 100 Set torque ratio when OLP operates. (Only Use SERVO Mode)
%
0xB0 REG_POSITION_MAX_LIMIT 2 R/W - 0 16383 Set the position max limits. (Only Use SERVO Mode)
4096=90°
0xB2 REG_POSITION_MIN_LIMIT 2 R/W - 0 16383 Set the position min limits. (Only Use SERVO Mode)
4096=90°
Option
0x2E REG_STREAM_TIME 2 R/W 1000 0 10000 Set the Stream Period. ms
0x30 REG_STREAM_MODE 2 R/W 0 0 1 Set the Stream Mode. 0 = Off, 1 = On
0xE2 REG_STREAM ADDR_0 2 R/W 0 0 65535
Bit 0~7 :Stream Custom 1 Adder
-
Bit 8~15 :Stream Custom 2 Adder
0xE4 REG_STREAM ADDR_1 2 R/W 0 0 65535
Bit 0~7 :Stream Custom 3 Adder
-
Bit 8~15 :Stream Custom 4 Adder
0xE6 REG_STREAM ADDR_2 2 R/W 0 0 65535
Bit 0~7 :Stream Custom 5 Adder
-
Bit 8~15 :Stream Custom 6 Adder
0xE8 REG_STREAM ADDR_3 2 R/W 0 0 65535
Bit 0~7 :Stream Custom 7 Adder
-
Bit 8~15 :Stream Custom 8 Adder
0x46 REG_POWER_CONFIG 2 R/W 0 0 1536 Bit 10-9 : Forced Emergency Stop
0 = Off
1= Motor_Free
2= Speed_Down
3=Motor_Hold
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Bit 0: S/W Reset 0 = Off, 1 = Reset
0x4E REG_DEADBAND 2 R/W - 0 4095 Set the Position Dead band. step
0x50 REG_POS_MAX 2 R/W 0 0 16383 Set the maximum position. (0 is inactive)
4096=90°
0xC2 REG_POS_MID 2 R/W 8192 0 16383 Set Mid position. 4096=90°
0x52 REG_POS_MIN 2 R/W 0 0 16383 Set the minimum position. (0 is inactive)
4096=90°
0xDA REG_SPEED_VOLTAGE 2 R/W - 0 65535 Set the reference voltage for the speed.
100mV (120 = 12.0V)
0xDC REG_SPEED_UP 2 R/W - 0 65535 Set the acceleration time. ms
0xDE REG_SPEED_DN 2 R/W - 0 65535 Set the deceleration time. ms
0xE0 REG_SPEED_ES 2 R/W - 0 65535
Set the deceleration time in case of an emergency stop. (It cannot be lower than the deceleration time.)
ms
0x64 REG_INERTIA_RANGE 2 R/W 1 0 4095 Set the Inertia gain range.
0 = smart sense disable
1 = smart sense auto
Gain Range 2~4095 (4095=100%)
0x54 REG_VELOCITY_MAX (SPEED)
2 R/W - 0 4095 Set the maximum velocity. pos/100msec
0x56 REG_TORQUE_MAX 2 R/W 4095 0 4095 Set the maximum torque. 4095=100%
0x58 REG_VOLTAGE_MAX 2 R/W - 0 65535 Set the maximum Voltage 10mV (100 = 1.00V)
0x5A REG_VOLTAGE_MIN 2 R/W - 0 65535 Set the minimum Voltage 10mV (100 = 1.00V)
0x5C REG_TEMPER_MAX 2 R/W - -32767 32767 Set the maximum Temperature. ℃
0x6C REG_TEMPER_MIN 2 R/W - -32767 32767 Set the minimum Temperature. ℃
0xC6 REG_ECHO 2 R/W 0 0 65535
User define Volatile memory.
- (It becomes '0' when power is reset.)
0xCC REG_USER_1 2 R/W 0 0 65535 User define Non-volatile memory. -
0xCE REG_USER_2 2 R/W 0 0 65535 User define Non-volatile memory. -
Option (SG Only)
0x26 REG_SPEC_TORQUE 2 R/W - 0 65535 Set the torque output by measuring the current.
1 = 10mW (9000=90.00W)
0xD8 REG_CURRENT_MAX 2 R/W - 0 65535 Set the Max Current. mA
Option (UAVCAN
Only)
0x2C REG_UNITLESS_RAD_MODE
2 R/W 0 0 1 Set the unit of angle for stream mode.
0=unitless
1=radian
Option (Ver1.4 Only)
0x06 REG_E_STATUS 2 R - 0 3
Bit 0 : Read the E_STATUS. 0 = enabled 1 = disabled
Bit 1: Read the Over Current state. 0 = Over Current
status 1 = Normal status
0xA6 REG_E_REF_1 2 R/W - 0 65535 PAD voltages -
0xA8 REG_E_PAD_VOLT 2 R/W - 0 1 Select the PAD voltage mode. 0 = PAD voltage1 1 = PAD voltage2
0xA2 REG_E_SETUP 2 R/W - 0 1 Select whether to use PAD voltage. 0= unuse
1= use
Config
0x6E REG_FACTORY_DEFAULT 2 W 0 0 65535 Set data to previous or factory default.
3855 = factory default
65535 = Load User Page
0x70 REG_CONFIG_SAVE 2 W 0 0 65535 Save changed data in memory. 65535 = Save User
Page
NOTE) Yellow Values need SAVE and RESET
2-2 Status
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Rev 2.00_EN HITEC RCD, INC.
It is a Register that store status information.
REG_EMERGENCY_STOP
The current error states. Items that do not meet the set criteria can be checked with
Flag.
15 14 13 12 11 10 9 8
Reserved
Volt
Over
Error
Volt
Under
Error
Reserved
MCU
TEMP
Over
Error
MCU
TEMP
Under
Error
POS
Max
Error
POS
Min
Error
7 6 5 4 3 2 1 0
Reserved
⚫ Bit 15,12, 7~0: Reserved – Do not use.
⚫ Bit 14: Volt over error – Set to 1, if the current voltage is higher than the standard
voltage.
⚫ Bit 13: Volt under error – Set to 1, if the current voltage is lower than the standard
voltage.
⚫ Bit 11: MCU Temp over error – Set to 1, if the current MCU temperature is higher
than the standard temperature.
⚫ Bit 10: MCU Temp under error – Set to 1, if the current MCU temperature is lower
than the standard temperature.
⚫ Bit 9: POS max error – Set to 1, if the current position is higher than the maximum
position.
⚫ Bit 8: POS min error – Set to 1, if the current position is lower than the minimum
position.
REG_POSITION
The current position value of CAN Servo and the range is 0 to +16383.
Based on the position ‘0’, it can be operated 360° in clockwise direction.
Address Length R/W Reset Min Max
0x0C 2 R/O - 0 16383
⚫ The resolution is 4096 = 90˚
Address length R/W Reset Min Max
0x48 2 R 0 0 65535
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REG_VELOCITY
The current speed (VEL) of the SERVO and the unit is pos/100msec.
It is shown through the following equation.
PT (PID SAMPLE TIME) = Register 0x3A
V = speed: unit sec / 60°
VEL = speed conf. value: Register 0x0E
RPM = VEL * 10 * 90 / 4096 / 360 * 60 / PT * 10
VEL = ( 1 / (V / 60) ) x PT / 10 * 4096 / 90 / 10
If PT = 10
VEL = (about)27.33 * RPM
V =(about)273.06 / VEL
Address Length R/W Reset Min Max
0x0E 2 R/O - 0 65535
⚫ Please note that the calculation formula and unit differ depending on the version of
SERVO.
Firmware RPM Calculation Reg 0x0E’s
Unit
Previous version RPM = VEL*1000*90/4096/360*60/PT*10 Pos/1msec
X.3 RPM = VEL*10*90/4096/360*60/PT*10 Pos/100msec
The unit’s Pos is the value of REG_POSITION, which is 4096=90°
REG_TORQUE
The Duty of current Motor’s PWM. It affects the torque.
Address Length R/W Reset Min Max
0x10 2 R/O 0 0 4095
⚫ It outputs 100% Duty at 4095
REG_VOLTAGE
The value of current supply voltage.
It represents 0.01 V per 1 register value. If the value is 1200, the actual supply voltage is
12V.
Address Length R/W Reset Min Max
0x12 2 R/O - 0 65535
REG_MCU_TEMPER
The internal temperature of MCU.
It can be set to 1 ℃ per data value and the actual temperature is 20°C when the value
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of Register is 20.
Address Length R/W Reset Min Max
0x14 2 R/O 0 -57 196
REG_TURN_COUNT
The current number of rotations.
In case of + 360˚ position, it is +1. In case of -360˚ position, Register value is -1.
Address Length R/W Reset Min Max
0x18 2 R/O 0 -32760 +32760
REG_32BITS_POSITION_L
The low value of current position (angle).
Address length R/W Reset Min Max
0x1A 2 R/O - 0 65535
⚫ REG_POSITION+ (REG_TURN_COUNT *16384 )의 Low Word
REG_32BIT_POSITION_H
The high value of current position (angle).
⚫ REG_POSITION+ (REG_TURN_COUNT *16384 )의 High Word
REG _TIME_L
The operating time after SERVO power is turned on.
It is the low value and the total running time can be checked by adding up the high
value with low value.
1sec per value. If Register value is 20, run time is 20 seconds.
Address Length R/W Reset Min Max
0xC8 2 R/O 0 -32760 32760
REG _TIME_H
The operating time after SERVO power is turned off.
It is the high value and the total running time can be checked by adding up the high
value with low value.
Address length R/W Reset Min Max
0x1C 2 R/O - 65535 2^31
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65535sec per value. If Register value is 10, run time is 655350 seconds.
Address Length R/W Reset Min Max
0xCA 2 R/O 0 -32760 32760
REG_PRODUCT_NO
Read the production number of SERVO
Address Length R/W Reset Min Max
0x74 2 R/O - 0 65535
REG_VERSION
Read the version of SERVO
Address Length R/W Reset Min Max
0xFC 2 R/O - 0 65535
REG_VERSION(BIT_INVERSE)
Read the version of SERVO (BIT INVERSE)
Address Length R/W Reset Min Max
0xFE 2 R/O - 0 65535
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2-3 Status (SG Series Only)
It is the register that stores the status information added only to SG Series SERVO.
REG_CURRENT
The current value used. It can be set to 1mA per data value and the actual current is
10A when the value of Register is 10000.
Address Length R/W Reset Min Max
0x16 2 R/O 0 0 65535
⚫ This function works only for SG series SERVO.
REG _MOTOR_TEMP
The temperature of the current Motor.
The temperature value of the motor can be calculated by the following equation.
T0 = 298.15
VT = 3.3 / 4096 * data
Rt = (10 * VT) / (3.3 - VT)
Temperature(℃) = 1007747 / (log(Rt) * T0 - log(10) * T0 + 3380) - 273.15
Address Length R/W Reset Min Max
0xD0 2 R/O 0 -32760 32760
⚫ This function works only for SG series SERVO.
REG_TEMP
The internal temperature of the current SERVO.
The temperature value of the SERVO can be calculated by the following equation.
Temperature(℃) = 175.72 * data / 65536 - 46.85;
Address Length R/W Reset Min Max
0xD2 2 R/O 0 -32760 32760
⚫ This function works only for SG series SERVO.
REG_HUM
The relative humidity inside the SERVO.
The humidity value of the SERVO can be calculated by the following equation.
Humidity(%RH) = 125 * data / 65536 - 6;
Address Length R/W Reset Min Max
0x4D 2 R/O 0 0 65535
⚫ This function works only for SG series SERVO.
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2-4 Action
It is the Register to operate CAN SERVO.
REG_POSITION_NEW
Specify a new position for SERVO with a resolution of 4096 = 90°
⚫ In SERVO Mode, it only can move from the range of POSITION_MIN_LIMIT to
POSITION_MAX_LIMIT.
REG_TURN_NEW
Set the number of rotations. The initial value is 0.
If set +1, the servo rotates 360° in the + direction relative to 0.
Address length R/W Reset Min Max
0x24 2 R/W 0 -32760 32760
⚫ It only operates in TURN Mode.
Address length R/W Reset Min Max
0x1E 2 R/W - 0 16383
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2-5 Communication
Register that set the communication environment of the servo. Communication Data can be
saved and initialized.
REG_ID
Set the ID.
Set the ID. If multiple CAN SERVOs are connected by the same signal line, the ID must
be assigned a unique value. Only the CAN SERVOs that matches the ID of the packet
will recognize the corresponding packet. Unmatched CAN SERVOs will not respond. ID
can be specified from 0 to 255.
Address length R/W Reset Min Max
0x32 2 R/W 0 0 255
⚫ If REG_ID is changed and saved, it operates with changed ID from the next power
reset.
REG_ID (if UAVCAN)
Set the ID.
Set the ID. If multiple CAN SERVOs are connected by the same signal line, the ID must
be assigned a unique value. Only the CAN SERVOs that matches the ID of the packet
will recognize the corresponding packet. Unmatched CAN SERVOs will not respond. ID
can be specified from 0 to 127.
Each device(Node) of UAVCAN network has a Unique Node ID.
Set the servo Node ID value. It can be set from 1 to 127.
However, please set REG_CAN_BUS_ID_H = 0, REG_CAN_BUS_ID_L = 128
Address length R/W Reset Min Max
0x32 2 R/W 0 0 127
⚫ If REG_ID is changed and saved, it operates with changed ID from the next power
reset.
REG_BAUDRATE
Set the Baud Rate.
It can support communication speeds from at least 125 Kbps up to 1000 Kbps.
Address length R/W Reset Min Max
0x38 2 R/W 5 0 8
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⚫ If you save after changing BAUDRATE, it operates at changed baud rate after power
reset.
REG_BAUDRATE Baud Rate
0 1000 Kbps
1 800 Kbps
2 750 Kbps
3 500 Kbps
4 400 Kbps
5 250 Kbps
6 200 Kbps
7 150 Kbps
8 125 Kbps
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REG_CAN_BUS_ID_H ( if protocol = CAN 2.0A, CAN 2.0B )
Set the CAN BUS ID.
CAN BUS ID can be set by adding high value and low value.
Address Length R/W Reset Min Max
0x3C 2 R/W 0 0 8191
REG_CAN_BUS_ID_H ( if protocol = UAVCAN )
Set this value 0.
Address Length R/W Reset Min Max
0x3C 2 R/W 0 0 0
REG_CAN_BUS_ID_L ( if protocol = CAN 2.0A, CAN 2.0B )
Set CAN BUS ID.
CAN BUS ID can be set by adding low value and high value.
Address Length R/W Reset Min Max
0x3E 2 R/W 0 0 65535
⚫ In CAN 2.0A, it can be specified from 0 to 2047.
⚫ In case of CAN 2.0B, it is available to designate 0 ~ 536870911 as low and high data.
⚫ To change this item, save and power reset are required.
REG_CAN_BUS_ID_L ( if protocol = UAVCAN )
Address Length R/W Reset Min Max
0x3E 2 R/W 0 0 128
⚫ Recommendation: Set 128 for this value, and set the servo’s Node ID (Actuator) value
in REG_ID[0x32]
⚫ If this value is between 1 and 127, the servo compares whether it matches the Src
Node ID value of ArrayCommand.
⚫ If this value is 128, the servo ignores the Src Node ID value of ArrayCommand.
(However, FW Ver 1.3 or higher is required)
REG_ SAMPLE_POINT
Selects the sampling point ratio of the CAN communication signal.
Address length R/W Reset Min Max
0x40 2 R/W 0 0 1
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⚫ 0 = 50% and 1 = 87.5%
⚫ To change it, save and power reset are required.
REG_CAN_MODE
Set CAN MODE.
Address length R/W Reset Min Max
0x6A 2 R/W 0 0 1
⚫ 0 = CAN 2.0 and 1 = CAN 2.0B
⚫ To change it, save and power reset are required.
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2-6 MODE
This Register is used to set RUN MODE of Servo. MODE Data can be saved and initialized.
REG_RUN_MODE
Select SERVO MODE or Multi-Turn MODE of CAN SERVO.
Address length R/W Reset Min Max
0x44 2 R/W 1 0 1
⚫ 0= Multi-Turn MODE, 1= SERVO MODE
⚫ To change it, save and power reset are required.
⚫ SERVO MODE
SERVO MODE is the mode to control within 0~360 degree.
By using REG_POSITION_MAX_LIMIT and REG_POSITION_MAX_LIMIT, you can adjust
the angle of CAN SERVO.
⚫ Multi-Turn MODE
Multi-Turn MODE is the mode to control until ±32760 turns.
By using REG_TURN_NEW, you can adjust the number of turns. And also, by using
REG_POSITION_NEW, you can adjust the position.
REG_POS_LOCK_TIME
Set the operation time, when CAN SERVO is in OLP condition.
1 = 1 second. If you set 3, OLP will be activate when CAN SERVO is being in OLP
condition over 3 seconds.
Address length R/W Reset Min Max
0x9A 2 R/W 3 0 5000
⚫ At 0, OLP is activate all the time.
⚫ Only activate in SERVO MODE ( Not applicable in Multi-turn MODE )
REG_POS_LOCK_TORQUE_RATIO
Set the Torque when OLP is activate.
The torque is output as much as the percentage of the currently set torque.
1= 1% and 100 = 100%.
Address length R/W Reset Min Max
0x9C 2 R/W 100 0 100
⚫ Only activate in SERVO MODE ( Not applicable in Multi-turn MODE )
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REG_POSITION_MAX_LIMIT
Set the maximum position that can be operated.
Data = 0~ +16383 and the resolution of data = 4096 = 90°.
Address length R/W Reset Min Max
0xB0 2 R/W 15018 0 16383
⚫ If the value of REG_POSITION_NEW is set higher than REG_POSITION_MAX_LIMIT, it
does not move.
⚫ REG_POSITION_MAX_LIMIT should be set higher than REG_POSITION_MIN_LIMIT
value.
REG_POSITION_MID
Set the center value of the position that can be operated.
Data = 0~ +16383 and the resolution of data = 4096 = 90°
Address length R/W Reset Min Max
0xC2 2 R/W 8192 0 16383
⚫ It should be set to the center value between REG_POSITION_MAX_LIMIT and
REG_POSITION_MIN_LIMIT.
REG_POSITION_MIN_LIMIT
Set the minimum position that can be operated.
Data = 0~ +16383 and the resolution of data = 4096 = 90°.
Address length R/W Reset Min Max
0xB2 2 R/W 1366 0 16383
⚫ If the value of REG_POSITION_NEW is set lower than REG_POSITION_MIN_LIMIT, it
does not move.
⚫ REG_POSITION_MIN_LIMIT should be set lower than REG_POSITION_MAX_LIMIT
value.
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2-7 Option
Register to set Servo function. Option data can be saved and initialized.
REG_STREAM_TIME
The cycle of STREAM function. The unit is 1ms.
Address length R/W Reset Min Max
0x2E 2 R/W 1000 0 10000
REG_STREAM_MODE
Set STREAM MODE ON / OFF.
Address length R/W Reset Min Max
0x30 2 R/W 0 0 1
⚫ 0: STREAM_MODE_OFF
⚫ 1: STREAM_MODE_ON
⚫ STREAM_MODE
⚫ CAN SERVO returns REG_POSITION and REG_TURN_COUNT values automatically at
specified time intervals without the need for manual read by HOST.
(Return REG_TURN_COUNT only when using TURN MODE.)
REG_STREAM_ADDR_0
Set the desired data Adder when outputting in Stream Mode.
15 14 13 12 11 10 9 8
Stream Custom 2 Adder
7 6 5 4 3 2 1 0
Stream Custom 1 Adder
⚫ Bit 7~0: Adder of Stream Custom 1
⚫ Bit 15~8: Adder of Stream Custom 2
⚫ If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION and
REG_TURN_COUNT values are returned.
⚫ Applicable only when the servo is CAN2.0A or CAN2.0B
Address length R/W Reset Min Max
0xE2 2 R/W 0 0 65535
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REG_STREAM_ADDR_1
Set the desired data Adder when outputting in Stream Mode.
15 14 13 12 11 10 9 8
Stream Custom 4 Adder
7 6 5 4 3 2 1 0
Stream Custom 3 Adder
⚫ Bit 7~0: Adder of Stream Custom 3
⚫ Bit 15~8: Adder of Stream Custom 4
⚫ If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION,
REG_TURN_COUNT values are returned.
⚫ Applicable only when the servo is CAN2.0A or CAN2.0B
REG_STREAM_ADDR_2
Set the desired data Adder when outputting in Stream Mode.
15 14 13 12 11 10 9 8
Stream Custom 6 Adder
7 6 5 4 3 2 1 0
Stream Custom 5 Adder
⚫ Bit 7~0: Adder of Stream Custom 5
⚫ Bit 15~8: Adder of Stream Custom 6
⚫ If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION,
REG_TURN_COUNT values are returned.
⚫ Applicable only when the servo is CAN2.0A or CAN2.0B
Address length R/W Reset Min Max
0xE4 2 R/W 0 0 65535
Address length R/W Reset Min Max
0xE6 2 R/W 0 0 65535
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REG_STREAM_ADDR_3
Set the desired data Adder when outputting in Stream Mode.
15 14 13 12 11 10 9 8
Stream Custom 8 Adder
7 6 5 4 3 2 1 0
Stream Custom 7 Adder
⚫ Bit 7~0: Adder of Stream Custom 7
⚫ Bit 15~8: Adder of Stream Custom 8
⚫ If the setting values of REG_STREAM_ADDR_0 ~ 4 are all 0, REG_POSITION,
REG_TURN_COUNT values are returned.
⚫ Applicable only when the servo is CAN2.0A or CAN2.0B
REG_POWER_CONFIG
Set the power management method.
15 14 13 12 11 10 9 8
Reserved Forced Emergency
Stop Reserved
7 6 5 4 3 2 1 0
Reserved S/W RESET
⚫ Bit 15~11, 7~1: Reserved – Do not use.
⚫ Bit 10~9: Forced Emergency Stop – Use Forced Emergency Stop function
0: OFF
1: Motor_Free
(Forced Emergency Stop is turned ON when the motor power is off.)
2: Speed_Down
(After Motor Speed decreases (REG_SPEED_ES setting) and stops, the
motor goes into the HOLD state and Forced Emergency Stop is turned
ON.)
3: Motor_Hold
(The motor goes into the Hold state and Forced Emergency Stop is turned
Address length R/W Reset Min Max
0xE8 2 R/W 0 0 65535
Address length R/W Reset Min Max
0x46 2 W - 0 65535
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ON.)
⚫ Bit 0: Reset – Software Reset of SERVO
1: Reset On (Reset to 0)
REG_DEADBAND
Set Dead Band area of SERVO.
Address length R/W Reset Min Max
0x4E 2 R/W 0 0 4095
⚫ If the value is high, Jitter may occur during operation.
( 20 or less recommended )
REG_POS_MAX
Set the maximum position value that operates in the normal state.
Data = 0~ +16383 and the resolution of data = 4096 = 90°.
Address length R/W Reset Min Max
0x50 2 R/W 16383 0 16383
⚫ 0 = Off
⚫ REG_EMERGENCY_STOP condition is met, if the REG_POSITION value is higher than
REG_POS_MAX.
REG_POS_MIN
Set the minimum position value that operates in the normal state.
Data = 0~ +16383 and the resolution of data = 4096 = 90°.
Address length R/W Reset Min Max
0x52 2 R/W 0 0 16383
⚫ 0 = Off
⚫ REG_EMERGENCY_STOP condition is met, if the REG_POSITION value is lower than
REG_POS_MIN.
REG_SPEED_VOLTAGE
Set the reference voltage for the maximum speed of SERVO.
It compares with the input voltage of SERVO and adjusts the ratio of the maximum
speed value.
EX) REG_VELOCITY_MAX(SPEED) = 2000, REG_SPEED_VOLTAGE = 120,
If REG_VOLTAGE value is 60, the actual maximum speed is applied as
60/120*2000=1000 in voltage proportion and operates.
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Address length R/W Reset Min Max
0xDA 2 R/W 0 0 65535
Even if the REG_VOLTAGE value is higher than the REG_SPEED_VOLTAGE value, the
REG_VELOCITY value is not set higher than REG_VELOCITY_MAX(SPEED).
REG_SPEED_UP
Set the acceleration time of SERVO. The unit is ms and it accelerates at maximum speed
for 10 ms.
Address length R/W Reset Min Max
0xDC 2 R/W 0 0 65535
⚫ If the data value is 0, it moves at constant speed at the maximum speed.
REG_SPEED_DN
Set the deceleration time of SERVO. The unit is ms and it decelerates for 10ms and
stops at the stop position.
Address Length R/W Reset Min Max
0xDE 2 R/W 0 0 65535
⚫ If the data value is 0, it moves at constant speed at the maximum speed.
REG_SPEED_ES
Set the deceleration time when Forced Emergency Stop occurs. The unit is ms. If the
value is 10, when Forced Emergency Stop occurs, it decelerates and stops for 10 ms.
Address length R/W Reset Min Max
0xE0 2 R/W 0 0 65535
⚫ If the data value is 0, it stops immediately when Forced Emergency Stop occurs.
⚫ It cannot be set higher than REG_SPEED_DN
REG_INERTIA_RANGE
Set the rate when INERTIA occurs in SERVO. In the range of 2~4095, the ratio of the
Gain Range value can be set to 0 to 100%, and the Smart Sense that automatically
adjusts the ratio can be turned On/Off.
Address length R/W Reset Min Max
0x64 2 R/W 0 0 4095
⚫ When the data value is 0, the Smart Sens is turned OFF, and the Gain Range value
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is 100%.
⚫ When the data value is 1, the Smart Sense is turned ON to automatically adjust the
Gain Range value.
⚫ Smart Sense
When SERVO generates continuous INERTIA due to the load, it reads the average
value of the INERTIA and adjust the Gain Range value to prevent INERTIA.
REG_VELOCITY_MAX(SPEED)
Set the maximum speed value that operates in a normal state and its unit is
pos/100msec. It is shown through the following equation.
RPM = SPEED * 10 * 90 / 4096 / 360 * 60 → SPEED =(about)27.33 * RPM
SPEED= ( 1 / (V / 60) ) * 4096 / 90 / 10 → V(sec/60°) =(about)273.06 / SPEED
The unit of V is sec/60°
Address length R/W Reset Min Max
0x54 2 R/W - 0 4095
Please note that the calculation formula and unit differ depending on the version of
SERVO.
Firmware Calculation Unit
Previous version SPEED = V*1000*90/4096/360*60 Pos/1msec
X.3 SPEED= V*10*90/4096/360*60 Pos/100msec
The unit’s Pos is the value of REG_POSITION, which is 4096=90°
REG_TORQUE_MAX
Set the maximum width of the motor PWM duty. 4095 = 100%
Address length R/W Reset Min Max
0x56 2 R/W 4095 0 4095
REG_VOLTAGE_MAX
Set the highest voltage that operates in the normal state.
1 = 0.01V. 1200 = 12V.
Address length R/W Reset Min Max
0x58 2 R/W 0 0 65535
⚫ 0 = Off
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⚫ REG_EMERGENCY_STOP condition is met, if the REG_VOLTAGE value is higher than
REG_VOLTAGE_MAX.
REG_VOLTAGE_MIN
Set the lowest voltage that operates in the normal state.
1 = 0.01V. 1200 = 12V.
Address length R/W Reset Min Max
0x5A 2 R/W - 0 65535
⚫ 0 = Off.
⚫ REG_EMERGENCY_STOP condition is met, if the REG_VOLTAGE value is lower than
REG_VOLTAGE_MIN.
REG_TEMPER_MAX
Set the maximum temperature value at which MCU TEMPER operates in a normal state.
1 = 1˚C, 20 = 20˚C.
Address length R/W Reset Min Max
0x5C 2 R/W 0 -32767 32767
⚫ 0 = Off.
⚫ REG_EMERGENCY_STOP condition is met, if REG_MCU_TEMPER value is higher than
REG_TEMPER_MAX.
REG_TEMPER_MIN
Set the maximum temperature value at which MCU TEMPER operates in a normal state.
1 = 1˚C, 20 = 20˚C.
Address length R/W Reset Min Max
0x6C 2 R/W 0 -32767 32767
⚫ 0 = Off.
⚫ REG_EMERGENCY_STOP condition is met, if REG_MCU_TEMPER value is lower than
REG_TEMPER_MIN.
REG_ECHO
This value can be set by the user. It will be 0 when the SERVO is reset.
Address length R/W Reset Min Max
0xC6 2 R/W 0 0 65535
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REG_USER_1
It is a data address that users can save randomly.
Address length R/W Reset Min Max
0xCC 2 R/W 0 0 65535
⚫ Only after SAVE after changing REG_ECHO, it can be saved after power reset.
REG_USER_2
It is a data address that users can save randomly.
Address length R/W Reset Min Max
0xCE 2 R/W 0 0 16383
⚫ Only after SAVE after changing REG_ECHO, it can be saved after power reset.
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2-8 Option (SG Series Only)
REG _SPEC_TORQUE
Set the maximum power of the torque output.
1 = 10mW. 9000 = 90W.
Address length R/W Reset Min Max
0x26 2 R/W 0 0 65535
REG_CURRENT_MAX
Set the maximum current to limit for products with a current measurement circuit.
1 = 1mA, 10000 = 10A.
Address length R/W Reset Min Max
0xD8 2 R/W 65535 0 65535
⚫ 0 = Off.
⚫ This function works only for SG series SERVO.
2-9 Option (UAVCAN Only)
REG_UNITLESS_RAD_MODE
Sets the unit of angle for stream mode.
Address length R/W Reset Min Max
0x2C 2 R/W 0 0 1
⚫ 0 = Unitless, 1 = Radian
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2-10 Option (Ver1.4 Only)
This feature applies only to version 1.4.
REG_E_STATUS
Check the status of E_STATUS.
15 14 13 12 11 10 9 8
Reserved
7 6 5 4 3 2 1 0
Reserved Over
current Enabled
⚫ Bit 0: Flag that becomes 1 if possible to refer to e_Status
1= enabled(referenceable), 0 = disabled
⚫ Bit 0: Read the Over Current status.
1 = Normal status, 0 = Over Current status
REG_E_REF_1
Address length R/W Reset Min Max
0xA6 2 R 0 0 1
⚫ If Bit 0 = 1, e_PAD_VOLT [0xA8] can be referenced.
REG_E_PAD_VOLT
The operating voltage of the installed PAD
Address length R/W Reset Min Max
0xA8 2 R 0 0 65535
⚫ Low Byte = Voltage 1 [V]
⚫ High Byte = Voltage 2 [V]
REG_E_SETUP
Set functions such as PAD’s operating voltage.
Address length R/W Reset Min Max
0xA2 2 R/W 0 0 1
⚫ Bit 0 = PAD Set the operating voltage, 0 = Voltage 1, 1 = Voltage 2
Address length R/W Reset Min Max
0x06 2 R - 0 3
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2-11 Configuration
The Register to configure CAN SERVO.
REG_DEFAULT
Restore all register values to factory default or recently saved.
Writing 3855 to this register will return all register values to their factory defaults. If you
write 0xFFFF, it will return to the last saved state.
If you want to maintain this state after power reset, you should save all the register
values using REG_CONFIG_SAVE register.
Address length R/W Reset Min Max
0x6E 2 W - - 65535
⚫ When returning to the factory defaults, all register values you have changed will be
erased. Please be careful to use.
REG_CONFIG_SAVE
Save all register change values.
Even if the register value is changed, it will return to the last saved setting after the
power is reset. If you write 0xFFFF to DATA, all current register values are saved and
you can maintain the current state even after power reset.
Address length R/W Reset Min Max
0x70 2 R/W 0 0 65535
⚫ After saved, previous Configuration Register values cannot be recalled. Please be
careful to use.
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3 Drawing
3-1 Connector and Pin Assign (SG Series CAN Circular Connector Type)
3-2 Cable and Pin Assign (SG Series CAN Cable Type)
V-
CAN H
Case GND
CAN L
V+
CAN L
CAN H
Case GND
V-
V+
38 CAN(2.0A, 2.0B)/UAVCAN Servo Control Protocol Manual
Rev 2.00_EN HITEC RCD, INC.
3-3 Connector and Pin Assign (Standard CAN Servo Connector Type)
V-
V+
CAN L
CAN H